diff --git a/include/core/capture/capture_base.h b/include/core/capture/capture_base.h
index 33fefbac329798f889965f8dc40084ae0351b2cf..c575674dbbc5e926c9666f34b85397e202900529 100644
--- a/include/core/capture/capture_base.h
+++ b/include/core/capture/capture_base.h
@@ -39,9 +39,9 @@ namespace wolf
// class CaptureBase
class CaptureBase : public NodeStateBlocks
{
- friend FeatureBase;
- friend FactorBase;
- friend FrameBase;
+ friend class FeatureBase;
+ friend class FactorBase;
+ friend class FrameBase;
private:
FrameBaseWPtr frame_ptr_;
@@ -79,20 +79,39 @@ class CaptureBase : public NodeStateBlocks
const PriorComposite& _state_priors = {});
~CaptureBase() override = default;
+
+ /** \brief Remove the capture
+ *
+ * \param viral_remove_parent_without_children If true, removes the parent if it has no other children.
+ */
void remove(bool viral_remove_parent_without_children = false) override;
+
+ /** \brief Check if the capture has any children
+ *
+ * \return true if the capture has children, false otherwise
+ */
bool hasChildren() const override;
/** \brief Emplace a FactorBlockDifference with zero difference between the state _key of this capture and
* _capture_origin
+ *
+ * \param _capture_origin The origin capture to add the factor drift.
+ * \param _key The key of the state to be factored.
+ * \param _apply_loss_function Whether to apply a loss function to the factor.
*/
virtual FactorBasePtr emplaceDriftFactor(CaptureBasePtr _capture_origin, char _key, bool _apply_loss_function);
- // Type
- virtual bool isMotion() const
- {
- return false;
- }
+ /**
+ * \brief Is a motion if there is motion detected.
+ *
+ * \return true if the capture is of type motion, false otherwise.
+ */
+ virtual bool isMotion() const;
+ /** \brief Process the capture
+ *
+ * \return true if the process is successful, false otherwise
+ */
bool process();
unsigned int id() const override;
@@ -134,13 +153,40 @@ class CaptureBase : public NodeStateBlocks
void fix() override;
void unfix() override;
- void move(FrameBasePtr);
- void link(FrameBasePtr);
+ /** \brief Move the capture to a new frame
+ *
+ * \param _frm_ptr Pointer to the new frame.
+ */
+ void move(FrameBasePtr _frm_ptr);
+
+ /** \brief Link the capture to a frame
+ *
+ * \param _frm_ptr Pointer to the frame.
+ */
+ void link(FrameBasePtr _frm_ptr);
+
+ /** \brief Unlink the capture from its current frame
+ */
void unlink();
+ /** \brief Emplace a new capture of type classType
+ *
+ * \param _frm_ptr Pointer to the frame to link the new capture to.
+ * \param all Variadic template arguments to forward to the constructor of classType.
+ * \return A shared pointer to the newly created capture.
+ */
template <typename classType, typename... T>
static std::shared_ptr<classType> emplace(FrameBasePtr _frm_ptr, T&&... all);
+ /** \brief Print the header information of the capture
+ *
+ * \param depth The depth of the header.
+ * \param factored_by Whether to include factors in the print.
+ * \param metric Whether to print metric information.
+ * \param state_blocks Whether to print state blocks information.
+ * \param stream The output stream to print to.
+ * \param _tabs The tabs to use for indentation.
+ */
virtual void printHeader(int depth,
bool factored_by,
bool metric,
@@ -148,6 +194,15 @@ class CaptureBase : public NodeStateBlocks
std::ostream& stream,
std::string _tabs = "") const;
+ /** \brief Print the capture details
+ *
+ * \param depth The depth of the print.
+ * \param factored_by Whether to include factors in the print.
+ * \param metric Whether to include metric information.
+ * \param state_blocks Whether to include state blocks.
+ * \param stream The output stream to print to.
+ * \param _tabs The tabs to use for indentation.
+ */
void print(int depth,
bool factored_by,
bool metric,
@@ -155,22 +210,32 @@ class CaptureBase : public NodeStateBlocks
std::ostream& stream = std::cout,
std::string _tabs = "") const;
+ /** \brief Perform a local check on the capture
+ *
+ * \param _verbose Whether to print verbose output.
+ * \param _stream The output stream to print to.
+ * \param _tabs The tabs to use for indentation.
+ * \return A CheckLog object containing the results of the check.
+ */
virtual CheckLog localCheck(bool _verbose, std::ostream& _stream, std::string _tabs = "") const;
- bool check(CheckLog& _log, bool _verbose, std::ostream& _stream, std::string _tabs = "") const;
+
+ /** \brief Check the capture
+ *
+ * \param _log The log to store check results.
+ * \param _verbose Whether to enable verbose output.
+ * \param _stream The output stream to print to.
+ * \param _tabs The tabs to use for indentation.
+ * \return true if the check is successful, false otherwise
+ */
+ bool check(CheckLog& _log, bool _verbose, std::ostream& _stream, std::string _tabs = "") const;
private:
FeatureBasePtr addFeature(FeatureBasePtr _ft_ptr);
void removeFeature(FeatureBasePtr _ft_ptr);
public:
- CaptureBasePtr shared_from_this_capture()
- {
- return std::static_pointer_cast<CaptureBase>(shared_from_this());
- };
- CaptureBaseConstPtr shared_from_this_capture() const
- {
- return std::static_pointer_cast<const CaptureBase>(shared_from_this());
- };
+ CaptureBasePtr shared_from_this_capture();
+ CaptureBaseConstPtr shared_from_this_capture() const;
};
} // namespace wolf
@@ -182,6 +247,12 @@ class CaptureBase : public NodeStateBlocks
namespace wolf
{
+
+inline bool CaptureBase::isMotion() const
+{
+ return false;
+}
+
template <typename classType, typename... T>
std::shared_ptr<classType> CaptureBase::emplace(FrameBasePtr _frm_ptr, T&&... all)
{
@@ -289,4 +360,14 @@ inline void CaptureBase::setTimeStampToNow()
time_stamp_.setToNow();
}
+inline CaptureBasePtr CaptureBase::shared_from_this_capture()
+{
+ return std::static_pointer_cast<CaptureBase>(shared_from_this());
+}
+
+inline CaptureBaseConstPtr CaptureBase::shared_from_this_capture() const
+{
+ return std::static_pointer_cast<const CaptureBase>(shared_from_this());
+}
+
} // namespace wolf